In this paper, the vision sensor is made up of four laser devices (LD) and four cameras. Standard difference value contrast method of calibration is put forward. The whole system’s parameter calibration is consisted by four sub-system’s calibration independently. Special target probe moves in standard grid mode in the measured two-dimensional plane. Gray-level centroid method is used to acquire four groups standard grid node. From the difference of standard grid node the segment linear calibration equations are obtained. The whole measured section is divided as grid block by every adjacent group standard mean coordinate values Z and Y. In the grid block all the measured coordinate values are calibrated by segment linear equations along Z and Y axis direction. The whole system is calibrated only by getting data once. The system calibration result shows the system measurement errors is less than 0.2 mm within 100 mm depth measurement.